CN108023531B - Compensation method for measurable speed disturbance of closed-loop position servo - Google Patents
Compensation method for measurable speed disturbance of closed-loop position servo Download PDFInfo
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- CN108023531B CN108023531B CN201711269552.2A CN201711269552A CN108023531B CN 108023531 B CN108023531 B CN 108023531B CN 201711269552 A CN201711269552 A CN 201711269552A CN 108023531 B CN108023531 B CN 108023531B
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- speed
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
- H02P2205/07—Speed loop, i.e. comparison of the motor speed with a speed reference
Abstract
The invention discloses a compensation method for measurable speed disturbance of closed loop position servo, which can realize the compensation of disturbance speed by measuring the disturbance speed and obtaining speed instruction compensation quantity, adding the corrected compensation quantity and the instruction value of a position regulator and then inputting the sum as the instruction of the speed regulator.
Description
Technical Field
The invention belongs to the technical field of servo control, and particularly relates to a compensation method for measurable speed disturbance of closed-loop position servo, which can be used for the anti-interference of a bionic eye joint.
Background
In the traditional position closed-loop servo, a position loop regulator generates a required speed command to a speed regulator according to an input position command and position feedback, and finally controls the output rotating speed of a motor and transmits the output rotating speed to a load side. In general, this closed-loop servo method is very useful.
However, when the speed loop generates disturbance, the command output by the regulator of the position loop should be a speed command after the disturbance, but not a motor-side command before the disturbance, otherwise, the influence of the disturbance speed exists all the time, and the control effect is not ideal.
Disclosure of Invention
In view of the above, the present invention provides a compensation method for a measurable velocity disturbance of a closed-loop position servo, which can effectively suppress the influence of disturbance velocity and improve the suppression capability of the position servo of a system on the disturbance by a new method for measuring and compensating the measurable disturbance amount.
The invention discloses a compensation method for closed-loop position servo, which comprises the following steps:
step 2, controlling a speed loop regulator instruction Vref of the system to be Vref0+ Vcomp according to the interference compensation quantity Vvector;
and 3, inputting a speed loop regulator instruction Vref into the speed change regulator to complete interference compensation.
The invention has the following beneficial effects:
the invention relates to a compensation method for measurable speed disturbance of closed loop position servo, which can realize the compensation of disturbance speed by measuring the disturbance speed and obtaining the speed instruction compensation quantity, and the corrected compensation quantity is added with the instruction value of a position regulator and then is used as the instruction input of the speed regulator.
Drawings
FIG. 1 is a block diagram of a prior art closed-loop position servo control;
FIG. 2 is a block diagram of an interference compensation element of the present invention in a closed loop over the entire position;
fig. 3 is a block diagram of the internal components of the interference compensation unit of the present invention.
Detailed Description
The invention is described in detail below by way of example with reference to the accompanying drawings.
First, it is ensured that the speed of the motor shaft and the speed of the final output shaft can be measured. And obtaining the rotating speed of the output shaft of the motor as 1/n of the motor speed according to the motor speed reduction ratio, wherein n is the reduction ratio.
Next, we calculate the initial compensation as 1/n of the motor speed minus the speed of the final output shaft.
And thirdly, the final compensation quantity is a first-order inertia element filter with the difference multiplied by the gain of K.
Fourthly, the compensation quantity is added with the speed command of the position regulator and then used as the command input of the speed loop regulator to complete the interference compensation.
In the invention, under the condition of disturbance, the speed of the gyroscope is equal to the speed of the motor (the speed of the phase-stabilizing platform) + the speed of external disturbance. In the case of a disturbance, the input to the driver speed loop is changed from the motor-fed speed to the gyroscope-fed speed by a speed compensation method. The input to the speed loop of the driver then becomes the difference between the position loop output and the gyroscope speed feedback. The motor is more sensitive to changes in the disturbance signal. Experiments prove that the rapidity of the phase stabilization of the motor after the compensation method is used is obviously improved compared with that before the compensation.
Example (b):
FIG. 1 is a block diagram of a closed-loop servo control for position without velocity disturbance compensation. The position feedback Pout generated by the disturbed speed is compared with a position command, the position feedback Pout is processed by a position loop regulator to generate a command Vref0 of a speed loop, the command is compared with a motor feedback speed Vmotor, the motor speed is controlled by the speed loop regulator, the motor speed is changed into a disturbed speed Vout after load disturbance, and the speed Vout after disturbance is subjected to time integration, namely the transfer function is 1/s and then is the position feedback Pout.
Fig. 2 is a block diagram of an interference compensation element in a closed loop over the entire position. The input of the interference compensation link is two, one is the speed output Vmotor at the motor side, and the other is the final output speed Vout after the speed disturbance. The output of the disturbance compensation link is a speed regulator command compensation amount Vcomp, the speed regulator command input after the disturbance compensation amount is changed from Vref0 to Vref, and Vref is Vref0+ Vcomp.
Fig. 3 is a block diagram illustrating the internal components of the interference compensation element. The inputs of the compensation quantity Vcomp are the speed output Vmotor on the motor side and the final output speed vout. Assuming that the reduction ratio of the motor is n, we first get their difference (Vmotor/n-Vout)
Filtering is performed, where τ is the time constant of the first order inertial element. We also add a gain K in the first order inertia element. K is a constant coefficient with the value range of 0-1. When K is 0, the compensation is completely cancelled. When K is 1, full compensation is achieved. K can be adjusted empirically, and its value is chosen in relation to the system: when the external disturbance speed is in an order of magnitude compared with the feedback speed of the motor or the external disturbance obviously interferes the system, the weight is selected to be larger, and the value of K is close to 1; the specific K value is adjusted according to the actual effect.
In summary, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (1)
1. A compensation method for closed loop position servo, comprising the steps of:
step 1, determining interference compensation quantity:
wherein, Vmotor represents the speed output of the motor side, n represents the reduction ratio of the motor, and Vout represents the final output speed of the motor after the speed disturbance; k represents gain, the value of K is 0-1, and the K value is carried out according to experienceAdjusting: when the external disturbance speed is in an order of magnitude compared with the speed output of the motor side or the external disturbance has obvious interference on a system, the value of K is close to 1, and when the external disturbance speed is smaller than the speed output of the motor side by 1 order of magnitude or less, the value of K is smaller;
a first-order inertia element filter is represented;
step 2, controlling a speed loop regulator instruction Vref of the system to be Vref0+ Vcomp according to the interference compensation amount Vcomp;
and 3, inputting a speed ring regulator instruction Vref into the speed ring regulator to complete interference compensation.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711269552.2A CN108023531B (en) | 2017-12-05 | 2017-12-05 | Compensation method for measurable speed disturbance of closed-loop position servo |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711269552.2A CN108023531B (en) | 2017-12-05 | 2017-12-05 | Compensation method for measurable speed disturbance of closed-loop position servo |
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| Publication Number | Publication Date |
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| CN108023531A CN108023531A (en) | 2018-05-11 |
| CN108023531B true CN108023531B (en) | 2020-09-11 |
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| CN201711269552.2A Active CN108023531B (en) | 2017-12-05 | 2017-12-05 | Compensation method for measurable speed disturbance of closed-loop position servo |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113325703A (en) * | 2021-04-25 | 2021-08-31 | 北京理工大学 | Active disturbance rejection controller for inhibiting resonance and design method thereof |
| CN113359462B (en) * | 2021-06-25 | 2022-12-20 | 北京理工大学 | Bionic eye image stabilization system and method based on disturbance decoupling and compensation |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH02219482A (en) * | 1989-02-20 | 1990-09-03 | Yaskawa Electric Mfg Co Ltd | Servomotor controller |
| JP2006215626A (en) * | 2005-02-01 | 2006-08-17 | Okuma Corp | Position controller |
| CN101834554A (en) * | 2010-05-28 | 2010-09-15 | 沈阳工业大学 | Method for improving processing precision by using load disturbance compensator and optimizing setting of load disturbance compensator |
| CN101877567A (en) * | 2009-04-29 | 2010-11-03 | 鸿富锦精密工业（深圳）有限公司 | Motor speed command generating device and method |
| CN103389646A (en) * | 2013-07-05 | 2013-11-13 | 西安交通大学 | Closed-loop identification method for servo feed system |
-
2017
- 2017-12-05 CN CN201711269552.2A patent/CN108023531B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH02219482A (en) * | 1989-02-20 | 1990-09-03 | Yaskawa Electric Mfg Co Ltd | Servomotor controller |
| JP2006215626A (en) * | 2005-02-01 | 2006-08-17 | Okuma Corp | Position controller |
| CN101877567A (en) * | 2009-04-29 | 2010-11-03 | 鸿富锦精密工业（深圳）有限公司 | Motor speed command generating device and method |
| CN101834554A (en) * | 2010-05-28 | 2010-09-15 | 沈阳工业大学 | Method for improving processing precision by using load disturbance compensator and optimizing setting of load disturbance compensator |
| CN103389646A (en) * | 2013-07-05 | 2013-11-13 | 西安交通大学 | Closed-loop identification method for servo feed system |
| CN103389646B (en) * | 2013-07-05 | 2015-12-09 | 西安交通大学 | A kind of servo feed system closed-loop identification method |
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| CN108023531A (en) | 2018-05-11 |
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